[SPARK-20976][SQL] Unify Error Messages for FAILFAST mode

### What changes were proposed in this pull request?
Before 2.2, we indicate the job was terminated because of `FAILFAST` mode.
```
Malformed line in FAILFAST mode: {"a":{, b:3}
```
If possible, we should keep it. This PR is to unify the error messages.

### How was this patch tested?
Modified the existing messages.

Author: Xiao Li <gatorsmile@gmail.com>

Closes #18196 from gatorsmile/messFailFast.